CN113895592B

CN113895592B - Automatic cruise underwater lifesaving device

Info

Publication number: CN113895592B
Application number: CN202111494481.2A
Authority: CN
Inventors: 杨旭东; 庞爱军; 李爱光; 赵博; 王念坤
Original assignee: Shandong Ruihua Fluoride Industry Co ltd
Current assignee: Shandong Ruihua Fluoride Industry Co ltd
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-04-12
Anticipated expiration: 2041-12-09
Also published as: CN113895592A

Abstract

The invention discloses an automatic cruising underwater lifesaving device, which belongs to the technical field of underwater lifesaving, and aims to improve the rescue efficiency and reduce the rescue difficulty; the air bag is arranged on the multistage pressing device, and the length of the air bag can be selected according to the body type of a person to be rescued; the other end of the warhead is connected with a tailstock, and a driving and steering device is arranged on the tailstock; a second sonar sensor is arranged on the transmitting device; the air bag can be used for rescuing people falling into water, the position of a person to be rescued is automatically locked through the air bag bomb, the air bag is sent to the chest or the back of the person to be rescued and bounced, the person to be rescued is sleeved for floating, the rescue efficiency is improved, and the rescue difficulty is reduced.

Description

Automatic cruise underwater lifesaving device

Technical Field

The invention relates to the technical field of underwater lifesaving, in particular to an automatic cruise underwater lifesaving device.

Background

Due to various reasons, accidental water falling accidents often occur, the optimal rescue time is often a few minutes after the water falls into the water, a professional rescue team member is often needed to rescue the water falling person in the traditional rescue, the life of the rescue team member is threatened, the rescue team member is difficult to find at the first time of the water falling, and the optimal rescue time is easy to miss. Sometimes, when facing a poor situation such as a wide lake surface or a turbulent water flow, the rescue personnel is limited in action, so that the precious rescue time is probably lost, and the rescue action fails. However, the existing life buoy throwing devices mostly adopt a manual throwing mode, but cannot throw the life buoy in a long distance due to the limitation of arm strength of people, and the life buoy to be thrown needs to be held by a person to be rescued, so that the life buoy cannot be rescued once the person to be rescued is positioned below the water surface.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides an automatic cruising underwater lifesaving device.

The invention is realized by the following technical scheme:

the utility model provides an automatic lifesaving device under water cruises, installs the gasbag in gasbag bullet, the gasbag bullet, and the gasbag bullet is installed on emitter, its characterized in that: the air bag bomb comprises a warhead and a tailstock, wherein a first sonar sensor, a water sensor and a life detection instrument are installed at one end of the warhead, a first cavity is formed in the other end of the warhead, round holes penetrating through the side wall of the warhead are formed in two sides of the first cavity, a cover body is hinged to the round holes, an air bag mounting frame is installed in the first cavity, a gas generation device is installed in the air bag mounting frame, through holes connected with the gas generation device are formed in two side walls of the air bag mounting frame, first annular grooves are formed in two ends of the air bag mounting frame, and a locking clamp is installed in each first annular groove; the multi-stage compressing device is arranged in a circular hole in the side wall of the warhead and comprises a cylindrical shell, a disc base and a compressing circular ring, the cylindrical shell is arranged on the disc base, the disc base is arranged on the side wall of a first cavity at the circular hole, a second annular groove is formed in the side wall of the cylindrical shell, the compressing circular ring is arranged on one side wall of the second annular groove in a sliding mode, a groove matched with the compressing circular ring is formed in the other side wall of the second annular groove, the air bag is sleeved on the multi-stage compressing device, the opening end of the air bag is locked in the first annular groove, and the multi-stage compressing device is provided with a penetrating air hole; the tail seat is connected with the other end of the warhead, a first steering plate and a second steering plate are rotatably mounted on the side wall of the tail seat, the first steering plate and the second steering plate are vertically arranged, and an impeller is rotatably mounted at the tail of the tail seat; and a second sonar sensor is arranged on the transmitting device.

Preferably, a lead screw motor is installed in the cylindrical shell, a nut matched with the lead screw motor is installed on the compression ring, and the compression ring is driven by a lead screw nut mechanism; a speed reducer is installed in the tailstock, and an impeller is connected with an output shaft of the speed reducer; the first steering plate and the second steering plate are rotatably installed on the tailstock through a rotating shaft, a telescopic rod is fixedly installed on the rotating shaft, an electric push rod is installed in the tailstock, and a piston rod of the electric push rod is hinged to the telescopic rod.

Preferably, one end of the warhead is provided with a second cavity, a first controller is installed in the second cavity, the first controller comprises a first single chip microcomputer and a driver, the first single chip microcomputer is connected with a first sonar sensor, a water immersion sensor, a life detector and the driver, and the driver is connected with a lead screw motor, an electric push rod and a speed reducer; and the multistage pressing device is provided with a button, and the button is connected with the first single chip microcomputer.

Preferably, the launching device comprises a launching cavity and an air storage cavity, the inner wall of the launching cavity is matched with the outer wall of the warhead, and the inner wall of the end part of the launching cavity is provided with a rubber ring; an air vent is arranged between the emission cavity and the air storage cavity, a first electromagnetic valve is installed at the air vent, an air inlet is formed in the side wall of the air storage cavity, a second electromagnetic valve is installed at the air inlet, and an air pressure sensor is installed in the air storage cavity.

Preferably, the second controller is installed to the outer wall in air storage chamber, and the second controller is including second singlechip and driver, and the second singlechip links to each other with second sonar sensor, baroceptor and driver, and the driver links to each other with first solenoid valve and second solenoid valve.

Preferably, the gas generating device comprises an igniter, a sodium azide layer, a filter and a gas outlet, the gas outlet is located on two sides of the gas generating device, the filter is installed at the gas outlet in the gas generating device, the sodium azide layer is arranged in the gas generating device, the igniter is installed in the sodium azide layer, and the igniter is connected with the first single chip microcomputer.

Preferably, a fixed shaft is installed on the side wall of the air bag bomb, a winch is installed at the top of the launching cavity, a lifesaving rope is connected between the fixed shaft and the winch, and the lifesaving rope is wound on the winch.

Preferably, the first steering plate, the second steering plate and the outer ring of the impeller are all provided with a protective cover.

Preferably, the balloon is semi-circular in the inflated state.

An automatic cruising underwater lifesaving device, the using method is as follows:

the method comprises the following steps: the second controller controls a second electromagnetic valve at the air inlet to store air in the air storage cavity according to the position of the person to be rescued, and monitors the air pressure in the air storage cavity according to an air pressure sensor in the air storage cavity, so that the air pressure level in the air storage cavity is at a position which can launch the air bag bomb to a half distance away from the person to be rescued;

step two: after the air storage is finished, the second controller controls the first electromagnetic valve at the vent hole to be opened, and the air in the air storage cavity can enter the launching cavity to eject the air bag out of the launching cavity;

step three: when the water immersion sensor on the air bag bomb detects that the air bag bomb enters water, the impeller, the life detection instrument and the first sonar sensor are started, the life detection instrument and the first sonar sensor are matched to lock the position of a person to be rescued, and the first controller controls the electric push rod to enable the air bag bomb to steer so as to reach the position of the person to be rescued;

step four: when the air bag bomb reaches the position of the person to be rescued, the impeller rotates reversely to decelerate, the first sonar sensor identifies the posture of the person to be rescued, and the air bag bomb reaches the chest or back of the person to be rescued under the control of the first controller;

step five: treat the personnel's of suing and labouring size through first sonar sensor and scan, adjust the length that the gasbag popped out according to the multistage closing device of the personnel's of waiting to sui and labouring size accessible, adjust the ignition of back first controller control point firearm that finishes, sodium azide can take place the reaction and produce a large amount of nitrogen gas rapidly and make the gasbag pop out, enclose after two semi-circular gasbags pop out and treat the chest position of the personnel of suing and labouring to accomplish and sue and labouring.

The invention has the beneficial effects that: the automatic cruising underwater lifesaving device can automatically position a person to be rescued, send the air bag to the person to be rescued, and automatically inflate the air bag to surround the person to be rescued to complete rescue; according to the invention, professional rescue workers do not need to carry out rescue, and the person to be rescued does not need to carry out operation, so that the rescue difficulty and the rescue efficiency are greatly reduced; the invention can rescue the person to be rescued under the water surface, and overcomes the defect of throwing the air bag for rescue.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is an axial view of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a sectional view taken along the line a of fig. 2.

Fig. 4 is a left side view of the present invention.

Fig. 5 is a sectional view taken along the line a in fig. 4.

Fig. 6 is an axial view of the balloon bullet of the invention.

Fig. 7 is a front view of the airbag cartridge of the present invention.

Fig. 8 is a sectional view taken along line a of fig. 7.

Fig. 9 is a partially enlarged view of fig. 8.

Fig. 10 is a sectional view taken along line B of fig. 7.

Fig. 11 is an axial view of the multi-stage hold-down device of the present invention.

In the attached drawings, 1, a warhead, 2, a tailstock, 3, a first cavity, 4, an air bag mounting rack, 5, a locking clamp, 6, a through hole, 7, a sodium azide layer, 8, an air outlet, 9, a filter, 10, an igniter, 11, a cylindrical shell, 12, a disc base, 13, a second annular groove, 14, a groove, 15, a pressing annular ring, 16, a lead screw motor, 17, a button, 18, a cover body, 19, a first sonar sensor, 20, a life detector, 21, a water sensor, 22a, a first steering plate, 22b, a second steering plate, 23, an electric push rod, 24, a telescopic rod, 25, a speed reducer, 26, an impeller, 27, a protective cover, 28, a launching cavity, 29, an air storage cavity, 30, a winch, 31, a fixed shaft, 32, an air hole, 33a, a first electromagnetic valve, 33b, a second electromagnetic valve, 34, an air inlet, 35, an air pressure sensor, 36 and a second controller, 37. second sonar transducer, 38, air vent, 39, second cavity.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

For ease of description, spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The invention is described in detail below with reference to the attached drawing figures: the invention relates to an automatic cruising underwater lifesaving device, which comprises an air bag bullet, wherein an air bag is arranged in the air bag bullet, the air bag bullet is arranged on a launching device, the air bag bullet comprises a bullet head 1 and a tailstock 2, one end of the bullet head 1 is provided with a first sonar sensor 19, a water sensor 21 and a life detector 20, the other end of the bullet head 1 is provided with a first cavity 3, two ends of the first cavity 3 are provided with round holes penetrating through the side wall of the bullet head 1, the round holes are hinged with a cover body, an air bag mounting frame 4 is arranged in the first cavity 3, a gas generating device is arranged in the air bag mounting frame 4, two side walls of the air bag mounting frame 4 are provided with through holes 6 connected with the gas generating device, two ends of the air bag mounting frame 4 are provided with first annular grooves, and a locking clamp 5 is arranged in the first annular grooves; a multistage pressing device is arranged in a circular hole in the side wall of the warhead 1, the multistage pressing device comprises a cylindrical shell 11, a disc base 12 and a pressing circular ring 15, the cylindrical shell 11 is arranged on the disc base 12, the disc base 12 is arranged on the side wall of a first cavity 3 at the circular hole, a second annular groove 13 is arranged on the side wall of the cylindrical shell 11, the pressing circular ring 15 is slidably arranged on one side wall of the second annular groove 13, a groove 14 matched with the pressing circular ring 15 is formed in the other side wall of the second annular groove 13, the air bag is sleeved on the multistage pressing device, the opening end of the air bag is locked in the first annular groove, and the multistage pressing device is provided with a through air hole 38; the tail seat 2 is connected with the other end of the warhead 1, a first steering plate 22a and a second steering plate 22b are rotatably mounted on the side wall of the tail seat 2, the first steering plate 22a and the second steering plate 22b are vertically arranged, and an impeller 26 is rotatably mounted at the tail part of the tail seat 2; a second sonar transducer 37 is mounted on the emitting device.

A lead screw motor 16 is installed in the cylindrical shell 11, a nut matched with the lead screw motor 16 is installed on the compression ring 15, and the compression ring 15 is driven by a lead screw nut mechanism; a speed reducer 25 is installed in the tailstock 2, and an impeller 26 is connected with an output shaft of the speed reducer 25; the first steering plate 22a and the second steering plate 22b are rotatably mounted on the tailstock 2 through a rotating shaft, a telescopic rod 24 is fixedly mounted on the rotating shaft, an electric push rod 23 is mounted in the tailstock 2, and a piston rod of the electric push rod 23 is hinged to the telescopic rod 24.

One end of the warhead 1 is provided with a second cavity 39, a first controller is arranged in the second cavity 39, the first controller comprises a first single chip microcomputer and a driver, the first single chip microcomputer is connected with the first sonar sensor 19, the water immersion sensor 21, the life detector 20 and the driver, and the driver is connected with the lead screw motor 16, the electric push rod 23 and the speed reducer 25; and a button 17 is arranged on the multistage pressing device, and the button 17 is connected with the first single chip microcomputer.

The launching device comprises a launching cavity 28 and an air storage cavity 29, the inner wall of the launching cavity 28 is matched with the outer wall of the warhead 1, and the inner wall of the end part of the launching cavity 28 is provided with a rubber ring; an air vent 32 is arranged between the emission cavity 28 and the air storage cavity 29, a first electromagnetic valve 33a is installed at the air vent 32, an air inlet 34 is arranged on the side wall of the air storage cavity 29, a second electromagnetic valve 33b is installed at the air inlet 34, and an air pressure sensor 35 is installed in the air storage cavity 29.

Second controller 36 is installed to the outer wall of air storage chamber 29, and second controller 36 is including second singlechip and driver, and the second singlechip links to each other with second sonar transducer 37, baroceptor 35 and driver, and the driver links to each other with first solenoid valve and second solenoid valve.

The gas generating device comprises an igniter 10, a sodium azide layer 7, a filter 9 and a gas outlet 8, wherein the gas outlet 8 is positioned on two sides of the gas generating device, the filter 9 is arranged at the position of the gas outlet 8 in the gas generating device, the sodium azide layer 7 is arranged in the gas generating device, the igniter 10 is arranged in the sodium azide layer 7, and the igniter 10 is connected with the first single chip microcomputer.

The side wall of the air bag bomb is provided with a fixed shaft 31, the top of the launching cavity 28 is provided with a winch 30, a lifesaving rope is connected between the fixed shaft 31 and the winch 30 and wound on the winch 30, and when the air bag drives the personnel to be rescued to stably float on the water surface, the personnel to be rescued can be pulled back through the winch.

The outer rings of the first steering plate 22a, the second steering plate 22b and the impeller 26 are all provided with a protective cover 27, so that the life-saving rope is prevented from twisting on the impeller or the steering plates to influence rescue.

Be equipped with the guide post in the first cavity, be equipped with on the gasbag mounting bracket with guide post matched with guiding hole, can the position of gasbag mounting bracket more stable through the cooperation of guide post and guiding hole.

The air bags are semicircular when in an expansion state, so that the two air bags can be popped out to surround the person to be rescued and drive the person to be rescued to float.

The working principle of the invention is as follows:

the second sonar sensor 37 positions a person to be rescued in water, the second controller 36 controls the second electromagnetic valve 33b at the air inlet 34 to store air in the air storage cavity 29 according to the position of the person to be rescued, the air pressure in the air storage cavity 29 is monitored according to the air pressure sensor 35 in the air storage cavity 29, the air pressure level in the air storage cavity 29 is enabled to be in a position which can launch the air bag bomb to a half distance away from the person to be rescued, and the person to be rescued is prevented from being accidentally injured when the distance is too close; after the air storage is finished, the second controller 36 controls the first electromagnetic valve 33a at the vent hole 32 to be opened, so that the air in the air storage cavity 29 can enter the launching cavity 28 to push the air bag out of the launching cavity 28; after the air bag bomb is launched, when the water immersion sensor 21 detects that the air bag bomb enters water, the impeller 26, the life detector 20 and the first sonar sensor 19 are started, the life detector 20 and the first sonar sensor 19 are matched to lock the position of a person to be rescued, and the first controller controls the electric push rod 23 to enable the air bag bomb to turn, so that the position of the person to be rescued is reached; when the air bag bomb reaches the position of a person to be rescued, the impeller 26 rotates reversely to decelerate, the first sonar sensor 19 identifies the posture of the person to be rescued, the chest or back of the person to be rescued needs to be locked after the posture identification is carried out, meanwhile, the air bag bomb reaches the chest or back of the person to be rescued under the control of the first controller, when the person to be rescued struggles in water, the motion amplitude of the trunk part is smaller due to the larger motion amplitude of four limbs, and the first sonar sensor can identify and lock the body part with small motion amplitude; then treat that personnel's size of suing and labouring scans through first sonar transducer 19, adjusts the length that the gasbag popped out according to the multistage closing device of personnel's size of waiting to suing and labouring, and the ignition of first controller control point firearm 10 after the regulation finishes, and sodium azide can take place to react and produce a large amount of nitrogen gas rapidly and make the gasbag pop out, encloses the chest position at the personnel of waiting to suing and labouring after two semi-circular gasbags pop out to accomplish and rescue.

On the basis of obtaining the positional deviation with the target through the sonar sensor, the flexible steering panel that drives through control electric putter moves, to the control of direction and gesture, needs the cooperation of gyroscope module to go on, and gyroscope module sends current position and gesture through the bus, and communication bus can adopt I²The gyroscope module sends the current position and the current posture to the single chip microcomputer through the bus, and the single chip microcomputer controls the electric push rod to stretch and drive the steering plate to move so as to realize direction control; for the drive of the electric push rod, the driver can adopt a stepping PID driver, a drive motor of the electric push rod adopts a stepping motor, the stepping PID driver calculates error signals of a set value and a measured value, then outputs pulse signals, and then the signal drives the motor to rotate forwards or backwards so as to achieve the purpose of controlling the extension and retraction of the electric push rod.

The brushless speed reducer can be used for driving the impeller, the brushless speed reducer can be driven by the brushless driver, the brushless driver adopts a position closed-loop control speed regulation mode, the position closed-loop control speed regulation mode adopts a PID (proportion integration differentiation) regulation algorithm to control the rotating position of the motor, and after a target position is given, the brushless driver can automatically calculate and control the target real-time speed of the current rotating position in the running process of the motor according to the configured acceleration, deceleration acceleration and maximum speed, so that the motor can accurately rotate to the target position according to the configured speed and acceleration parameters; when the brushless motor rotates, the control part firstly determines the sequence of starting the power transistor in the current converter according to the position of the motor rotor sensed by the hall-sensor, then determines the speed of the change of the hall-sensor signal according to the speed set by the driver and the command consisting of the acceleration rate and the deceleration rate after the motor rotates, and then determines the next group of switches to be switched on, and the switching-on time is short, the speed is short, and the speed is short when the speed is over.

After rescue is completed, parts of the airbag bomb need to be arranged or replaced, the tailstock 2 is taken down, the locking clamp 5 is loosened after the tailstock 2 is taken down, the airbag is separated from the airbag mounting frame 4, then the airbag mounting frame 4 is taken out, and the gas generating device in the airbag mounting frame 4 is replaced; need put in order the gasbag after taking out at gasbag mounting bracket 4, at first fill in the second annular groove 13 with the part of gasbag, through the leading screw motor 16 in the steerable tube-shape casing 11 of button 17 on the multistage closing device, and then the drive compresses tightly 15 compresses tightly the gasbag of filling in second annular groove 13 of ring, puts back gasbag mounting bracket 4 after the gasbag arrangement is accomplished, can with the open end locking of gasbag in first annular groove.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. The utility model provides an automatic lifesaving device under water cruises, installs the gasbag in gasbag bullet, the gasbag bullet, and the gasbag bullet is installed on emitter, its characterized in that: the air bag bomb comprises a warhead (1) and a tailstock (2), wherein a first sonar sensor (19), a water immersion sensor (21) and a life detection instrument (20) are installed at one end of the warhead (1), a first cavity (3) is formed in the other end of the warhead (1), round holes penetrating through the side wall of the warhead (1) are formed in two sides of the first cavity (3), a cover body is hinged to the round holes, an air bag mounting frame (4) is installed in the first cavity (3), a gas generating device is installed in the air bag mounting frame (4), through holes (6) connected with the gas generating device are formed in two side walls of the air bag mounting frame (4), first annular grooves are formed in two ends of the air bag mounting frame (4), and locking clamps (5) are installed in the first annular grooves; a multistage pressing device is installed in a circular hole in the side wall of the warhead (1), the multistage pressing device comprises a cylindrical shell (11), a disc base (12) and a pressing ring (15), the cylindrical shell (11) is installed on the disc base (12), the disc base (12) is installed on the side wall of a first cavity (3) in the circular hole, a second annular groove (13) is formed in the side wall of the cylindrical shell (11), the pressing ring (15) is installed on one side wall of the second annular groove (13) in a sliding mode, a groove (14) matched with the pressing ring (15) is formed in the other side wall of the second annular groove (13), the air bag is sleeved on the multistage pressing device, the opening end of the air bag is locked in the first annular groove, and the multistage pressing device is provided with a penetrating air hole (38); the tail seat (2) is connected with the other end of the warhead (1), a first steering plate (22 a) and a second steering plate (22 b) are rotatably mounted on the side wall of the tail seat (2), the first steering plate (22 a) and the second steering plate (22 b) are vertically arranged, and an impeller (26) is rotatably mounted at the tail part of the tail seat (2); and a second sonar sensor (37) is arranged on the transmitting device.

2. An auto-cruise underwater life saving device as claimed in claim 1, wherein: a lead screw motor (16) is installed in the cylindrical shell (11), a nut matched with the lead screw motor (16) is installed on the compression ring (15), and the compression ring (15) is driven by a lead screw nut mechanism; a speed reducer (25) is installed in the tailstock (2), and an impeller (26) is connected with an output shaft of the speed reducer (25); first steering panel (22 a) and second steering panel (22 b) rotate through the pivot and install on tailstock (2), fixed mounting has telescopic link (24) in the pivot, install electric putter (23) in tailstock (2), the piston rod and telescopic link (24) of electric putter (23) are articulated.

3. An auto-cruise underwater life saving device as claimed in claim 2, wherein: one end of the warhead (1) is provided with a second cavity (39), a first controller is installed in the second cavity (39), the first controller comprises a first single chip microcomputer and a driver, the first single chip microcomputer is connected with a first sonar sensor (19), a water immersion sensor (21), a life detector (20) and the driver, and the driver is connected with a lead screw motor (16), an electric push rod (23) and a speed reducer (25); and a button (17) is arranged on the multistage pressing device, and the button (17) is connected with the first single chip microcomputer.

4. An auto-cruise underwater life saving device as claimed in claim 1, wherein: the launching device comprises a launching cavity (28) and an air storage cavity (29), the inner wall of the launching cavity (28) is matched with the outer wall of the bullet (1), and a rubber ring is mounted on the inner wall of the end part of the launching cavity (28); be equipped with between transmission chamber (28) and gas storage chamber (29) air vent (32), air vent (32) department installs first solenoid valve (33 a), the lateral wall of gas storage chamber (29) is equipped with inlet port (34), and inlet port (34) department installs second solenoid valve (33 b), install baroceptor (35) in the gas storage chamber (29).

5. An auto-cruise underwater life saving device as claimed in claim 4, wherein: second controller (36) are installed to the outer wall of air storage chamber (29), and second controller (36) are including second singlechip and driver, and the second singlechip links to each other with second sonar sensor (37), baroceptor (35) and driver, and the driver links to each other with first solenoid valve (33 a) and second solenoid valve (33 b).

6. An auto-cruise underwater life saving device as claimed in claim 1, wherein: gas generator is including lighter (10), sodium azide layer (7), filter (9) and gas outlet (8), and gas outlet (8) are located gas generator's both sides, and gas outlet (8) department installs filter (9) in the gas generator, is sodium azide layer (7) in the gas generator, and install in sodium azide layer (7) lighter (10), and lighter (10) link to each other with first singlechip.

7. An auto-cruise underwater life saving device as claimed in claim 1, wherein: a fixed shaft (31) is installed on the side wall of the air bag bomb, a winch (30) is installed at the top of the launching cavity (28), a lifesaving rope is connected between the fixed shaft (31) and the winch (30), and the lifesaving rope is wound on the winch (30).

8. An auto-cruise underwater life saving device as claimed in claim 1, wherein: and the outer rings of the first steering plate (22 a), the second steering plate (22 b) and the impeller (26) are provided with protective covers (27).

9. An auto-cruise underwater life saving device as claimed in claim 1, wherein: the balloon is semi-circular when in an inflated state.